.TH "D:/gitt/MicrochipFor32/bsp_MPU6050/inv_mpu.h" 3 "2022年 十一月 22日 星期二" "Version 1.0.0" "Bscpp" \" -*- nroff -*-
.ad l
.nh
.SH NAME
D:/gitt/MicrochipFor32/bsp_MPU6050/inv_mpu.h \- An I2C-based driver for Invensense gyroscopes\&.  

.SH SYNOPSIS
.br
.PP
\fC#include 'main\&.h'\fP
.br
\fC#include 'varint\&.h'\fP
.br

.SS "类"

.in +1c
.ti -1c
.RI "struct \fBint_param_s\fP"
.br
.in -1c
.SS "宏定义"

.in +1c
.ti -1c
.RI "#define \fBDEFAULT_MPU_HZ\fP   (100)"
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.ti -1c
.RI "#define \fBINV_X_GYRO\fP   (0x40)"
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.ti -1c
.RI "#define \fBINV_Y_GYRO\fP   (0x20)"
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.ti -1c
.RI "#define \fBINV_Z_GYRO\fP   (0x10)"
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.ti -1c
.RI "#define \fBINV_XYZ_GYRO\fP   (\fBINV_X_GYRO\fP | \fBINV_Y_GYRO\fP | \fBINV_Z_GYRO\fP)"
.br
.ti -1c
.RI "#define \fBINV_XYZ_ACCEL\fP   (0x08)"
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.ti -1c
.RI "#define \fBINV_XYZ_COMPASS\fP   (0x01)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_DATA_READY\fP   (0x0001)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_DMP\fP   (0x0002)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_PLL_READY\fP   (0x0004)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_I2C_MST\fP   (0x0008)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_FIFO_OVERFLOW\fP   (0x0010)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_ZMOT\fP   (0x0020)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_MOT\fP   (0x0040)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_FREE_FALL\fP   (0x0080)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_DMP_0\fP   (0x0100)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_DMP_1\fP   (0x0200)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_DMP_2\fP   (0x0400)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_DMP_3\fP   (0x0800)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_DMP_4\fP   (0x1000)"
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.ti -1c
.RI "#define \fBMPU_INT_STATUS_DMP_5\fP   (0x2000)"
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.in -1c
.SS "函数"

.in +1c
.ti -1c
.RI "int \fBmpu_init\fP (void)"
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.RI "Initialize hardware\&. Initial configuration:
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Gyro FSR: +/- 2000DPS
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Accel FSR +/- 2G
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DLPF: 42Hz
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FIFO rate: 50Hz
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Clock source: Gyro PLL
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FIFO: Disabled\&.
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Data ready interrupt: Disabled, active low, unlatched\&. "
.ti -1c
.RI "int \fBmpu_init_slave\fP (void)"
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.ti -1c
.RI "int \fBmpu_set_bypass\fP (unsigned char bypass_on)"
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.RI "Set device to bypass mode\&. "
.ti -1c
.RI "int \fBmpu_lp_accel_mode\fP (unsigned char rate)"
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.RI "Enter low-power accel-only mode\&. In low-power accel mode, the chip goes to sleep and only wakes up to sample the accelerometer at one of the following frequencies: 
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 MPU6050: 1\&.25Hz, 5Hz, 20Hz, 40Hz 
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 MPU6500: 1\&.25Hz, 2\&.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz 
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 If the requested rate is not one listed above, the device will be set to the next highest rate\&. Requesting a rate above the maximum supported frequency will result in an error\&. 
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 To select a fractional wake-up frequency, round down the value passed to \fIrate\fP\&. "
.ti -1c
.RI "int \fBmpu_lp_motion_interrupt\fP (unsigned short thresh, unsigned char time, unsigned char lpa_freq)"
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.RI "Enters LP accel motion interrupt mode\&. The behavior of this feature is very different between the MPU6050 and the MPU6500\&. Each chip's version of this feature is explained below\&. "
.ti -1c
.RI "int \fBmpu_set_int_level\fP (unsigned char active_low)"
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.RI "Set interrupt level\&. "
.ti -1c
.RI "int \fBmpu_set_int_latched\fP (unsigned char enable)"
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.RI "Enable latched interrupts\&. Any MPU register will clear the interrupt\&. "
.ti -1c
.RI "int \fBmpu_set_dmp_state\fP (unsigned char enable)"
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.RI "Enable/disable DMP support\&. "
.ti -1c
.RI "int \fBmpu_get_dmp_state\fP (unsigned char *enabled)"
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.RI "Get DMP state\&. "
.ti -1c
.RI "int \fBmpu_get_lpf\fP (unsigned short *lpf)"
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.RI "Get the current DLPF setting\&. "
.ti -1c
.RI "int \fBmpu_set_lpf\fP (unsigned short lpf)"
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.RI "Set digital low pass filter\&. The following LPF settings are supported: 188, 98, 42, 20, 10, 5\&. "
.ti -1c
.RI "int \fBmpu_get_gyro_fsr\fP (unsigned short *fsr)"
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.RI "Get the gyro full-scale range\&. "
.ti -1c
.RI "int \fBmpu_set_gyro_fsr\fP (unsigned short fsr)"
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.RI "Set the gyro full-scale range\&. "
.ti -1c
.RI "int \fBmpu_get_accel_fsr\fP (unsigned char *fsr)"
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.RI "Get the accel full-scale range\&. "
.ti -1c
.RI "int \fBmpu_set_accel_fsr\fP (unsigned char fsr)"
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.RI "Set the accel full-scale range\&. "
.ti -1c
.RI "int \fBmpu_get_compass_fsr\fP (unsigned short *fsr)"
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.RI "Get the compass full-scale range\&. "
.ti -1c
.RI "int \fBmpu_get_gyro_sens\fP (float *sens)"
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.RI "Get gyro sensitivity scale factor\&. "
.ti -1c
.RI "int \fBmpu_get_accel_sens\fP (unsigned short *sens)"
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.RI "Get accel sensitivity scale factor\&. "
.ti -1c
.RI "int \fBmpu_get_sample_rate\fP (unsigned short *rate)"
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.RI "Get sampling rate\&. "
.ti -1c
.RI "int \fBmpu_set_sample_rate\fP (unsigned short rate)"
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.RI "Set sampling rate\&. Sampling rate must be between 4Hz and 1kHz\&. "
.ti -1c
.RI "int \fBmpu_get_compass_sample_rate\fP (unsigned short *rate)"
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.RI "Get compass sampling rate\&. "
.ti -1c
.RI "int \fBmpu_set_compass_sample_rate\fP (unsigned short rate)"
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.RI "Set compass sampling rate\&. The compass on the auxiliary I2C bus is read by the MPU hardware at a maximum of 100Hz\&. The actual rate can be set to a fraction of the gyro sampling rate\&. "
.ti -1c
.RI "int \fBmpu_get_fifo_config\fP (unsigned char *sensors)"
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.RI "Get current FIFO configuration\&. \fIsensors\fP can contain a combination of the following flags: 
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 INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO 
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 INV_XYZ_GYRO 
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 INV_XYZ_ACCEL "
.ti -1c
.RI "int \fBmpu_configure_fifo\fP (unsigned char sensors)"
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.RI "Select which sensors are pushed to FIFO\&. \fIsensors\fP can contain a combination of the following flags: 
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 INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO 
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 INV_XYZ_GYRO 
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 INV_XYZ_ACCEL "
.ti -1c
.RI "int \fBmpu_get_power_state\fP (unsigned char *power_on)"
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.RI "Get current power state\&. "
.ti -1c
.RI "int \fBmpu_set_sensors\fP (unsigned char sensors)"
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.RI "Turn specific sensors on/off\&. \fIsensors\fP can contain a combination of the following flags: 
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 INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO 
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 INV_XYZ_GYRO 
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 INV_XYZ_ACCEL 
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 INV_XYZ_COMPASS "
.ti -1c
.RI "int \fBmpu_set_accel_bias\fP (const long *accel_bias)"
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.RI "Push biases to the accel bias registers\&. This function expects biases relative to the current sensor output, and these biases will be added to the factory-supplied values\&. "
.ti -1c
.RI "int \fBmpu_get_gyro_reg\fP (short *data, unsigned long *timestamp)"
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.RI "Read raw gyro data directly from the registers\&. "
.ti -1c
.RI "int \fBmpu_get_accel_reg\fP (short *data, unsigned long *timestamp)"
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.RI "Read raw accel data directly from the registers\&. "
.ti -1c
.RI "int \fBmpu_get_compass_reg\fP (short *data, unsigned long *timestamp)"
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.RI "Read raw compass data\&. "
.ti -1c
.RI "int \fBmpu_get_temperature\fP (long *data, unsigned long *timestamp)"
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.RI "Read temperature data directly from the registers\&. "
.ti -1c
.RI "int \fBmpu_get_int_status\fP (short *status)"
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.RI "Read the MPU interrupt status registers\&. "
.ti -1c
.RI "int \fBmpu_read_fifo\fP (short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more)"
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.RI "Get one packet from the FIFO\&. If \fIsensors\fP does not contain a particular sensor, disregard the data returned to that pointer\&. 
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 \fIsensors\fP can contain a combination of the following flags: 
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 INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO 
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 INV_XYZ_GYRO 
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 INV_XYZ_ACCEL 
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 If the FIFO has no new data, \fIsensors\fP will be zero\&. 
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 If the FIFO is disabled, \fIsensors\fP will be zero and this function will return a non-zero error code\&. "
.ti -1c
.RI "int \fBmpu_read_fifo_stream\fP (unsigned short length, unsigned char *data, unsigned char *more)"
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.RI "Get one unparsed packet from the FIFO\&. This function should be used if the packet is to be parsed elsewhere\&. "
.ti -1c
.RI "int \fBmpu_reset_fifo\fP (void)"
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.RI "Reset FIFO read/write pointers\&. "
.ti -1c
.RI "int \fBmpu_write_mem\fP (unsigned short mem_addr, unsigned short length, unsigned char *data)"
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.RI "Write to the DMP memory\&. This function prevents I2C writes past the bank boundaries\&. The DMP memory is only accessible when the chip is awake\&. "
.ti -1c
.RI "int \fBmpu_read_mem\fP (unsigned short mem_addr, unsigned short length, unsigned char *data)"
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.RI "Read from the DMP memory\&. This function prevents I2C reads past the bank boundaries\&. The DMP memory is only accessible when the chip is awake\&. "
.ti -1c
.RI "int \fBmpu_load_firmware\fP (unsigned short length, const unsigned char *firmware, unsigned short start_addr, unsigned short sample_rate)"
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.RI "Load and verify DMP image\&. "
.ti -1c
.RI "int \fBmpu_reg_dump\fP (void)"
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.RI "Register dump for testing\&. "
.ti -1c
.RI "int \fBmpu_read_reg\fP (unsigned char \fBreg\fP, unsigned char *data)"
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.RI "Read from a single register\&. NOTE: The memory and FIFO read/write registers cannot be accessed\&. "
.ti -1c
.RI "int \fBmpu_run_self_test\fP (long *gyro, long *accel)"
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.RI "Trigger gyro/accel/compass self-test\&. On success/error, the self-test returns a mask representing the sensor(s) that failed\&. For each bit, a one (1) represents a 'pass' case; conversely, a zero (0) indicates a failure\&. "
.ti -1c
.RI "int \fBmpu_register_tap_cb\fP (void(*func)(unsigned char, unsigned char))"
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.ti -1c
.RI "void \fBmget_ms\fP (unsigned long *time)"
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.ti -1c
.RI "unsigned short \fBinv_row_2_scale\fP (const signed char *row)"
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.ti -1c
.RI "unsigned short \fBinv_orientation_matrix_to_scalar\fP (const signed char *mtx)"
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.ti -1c
.RI "\fBu8\fP \fBrun_self_test\fP (void)"
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.ti -1c
.RI "\fBu8\fP \fBmpu_dmp_init\fP (void)"
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.ti -1c
.RI "\fBu8\fP \fBmpu_dmp_get_data\fP (float *pitch, float *roll, float *yaw)"
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.in -1c
.SH "详细描述"
.PP 
An I2C-based driver for Invensense gyroscopes\&. 

This driver currently works for the following devices: MPU6050 MPU6500 MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) 
.PP
在文件 \fBinv_mpu\&.h\fP 中定义\&.
.SH "作者"
.PP 
由 Doyxgen 通过分析 Bscpp 的 源代码自动生成\&.